- Adding new fixed joint links (`right_contact_panel` and `left_contact_panel`) to Link8 and Link7.
- Defining visual representations with semi-transparent boxes for these panels.
- Setting up collision models to enable accurate contact detection.
- Updating Gazebo references to maintain fixed joint properties in simulations.
- Moving sensors from the main links to the new contact panels for better interaction sensing.
- Correcting and updating collision references in sensors.
- Making minor XML formatting adjustments for consistency.
